werobot/ftc2024-robotcode
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add test motor speed

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This commit is contained in:
GZod01 2024-03-10 17:21:15 +01:00
parent f4fd16db72
commit bfd7069853
1 changed files with 17 additions and 0 deletions
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17
FTC2024WeRobotControl.java
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@ -63,11 +63,20 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public double getSpeedFromMotorSpeed(double motor_speed) { public double getSpeedFromMotorSpeed(double motor_speed) {
testMotorSpeed(motor_speed);
double speed_tour_par_minutes = this.tour_par_minutes * motor_speed; double speed_tour_par_minutes = this.tour_par_minutes * motor_speed;
double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter; double speed = (speed_tour_par_minutes / 60) * this.wheel_perimeter;
return speed; return speed;
} }
/*
* test if motorSpeed is >= 0
*/
public void testMotorSpeed(double motor_speed){
if(!((double)motor_speed>=0.0)){
throw new Exception("Motor Speed MUST be >= 0");
}
}
/* /*
* return the needed time for a distance * return the needed time for a distance
* *
@ -77,6 +86,7 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public double time_for_dist(double dist, double motor_speed) { public double time_for_dist(double dist, double motor_speed) {
testMotorSpeed(motor_speed);
double speed = getSpeedFromMotorSpeed(motor_speed); double speed = getSpeedFromMotorSpeed(motor_speed);
return (dist / speed); return (dist / speed);
} }
@ -91,6 +101,7 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void forward(double n_tiles, double motor_speed) { public void forward(double n_tiles, double motor_speed) {
testMotorSpeed(motor_speed);
double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed); double total_time = time_for_dist(n_tiles * ground_tiles_width, motor_speed);
timer.reset(); timer.reset();
while (Parent.opModeIsActive() && timer.seconds() < total_time) { while (Parent.opModeIsActive() && timer.seconds() < total_time) {
@ -115,6 +126,7 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void backward(double n_tiles, double motor_speed) { public void backward(double n_tiles, double motor_speed) {
testMotorSpeed(motor_speed);
forward(n_tiles, -motor_speed); forward(n_tiles, -motor_speed);
} }
@ -129,8 +141,12 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void harvest(double motor_speed) { public void harvest(double motor_speed) {
testMotorSpeed(motor_speed);
Parent.harvestmotor.setPower(motor_speed); Parent.harvestmotor.setPower(motor_speed);
} }
public void harvest(){
this.harvest(1);
}
/* /*
* harvest * harvest
@ -141,6 +157,7 @@ public class FTC2024WeRobotControl {
* to 1 * to 1
*/ */
public void rotate(double angle, double motor_speed){ public void rotate(double angle, double motor_speed){
testMotorSpeed(motor_speed);
robotOrientation = Parent.imu.getRobotYawPitchRollAngles(); robotOrientation = Parent.imu.getRobotYawPitchRollAngles();
double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES); double start_yaw = robotOrientation.getYaw(AngleUnit.DEGREES);
angle = 200.0; angle = 200.0;